Endoscope articulation system to reduce effort during articulation of an endoscope

• US 5,667,476 A
• Filed: 06/05/1995
• Issued: 09/16/1997
• Est. Priority Date: 06/05/1995
• Status: Expired due to Term

• Current Assignee: Vision-Sciences Incorporated (2941881 Canada, Inc.)
• Original Assignee: Vision-Sciences Incorporated (2941881 Canada, Inc.)
• Inventors: Frassica, James J., Ailinger, Robert E.
• Primary Examiner(s): FLANAGAN, BEVERLY MEINDL
• Application Number:
  US08/464,260
• Time in Patent Office: 834 Days
• Field of Search: 600/139, 600/141, 600/142, 600/145, 600/146, 600/147, 600/148, 600/149, 600/150, 600/151
• US Class Current: 600/149
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61M 25/0136 Handles therefor
• CPC Class Codes: Y10T 74/20402 Flexible transmitter [e.g., Bowden cable]

Abstract

An endoscope having an articulation system that provides a mechanical advantage and facilitates articulation of the distal section of the endoscope insertion tube. The endoscope includes a handle held by a user during an endoscopic procedure and an insertion tube attached at its proximal section to the handle. A plurality of control cables extending the length of the insertion tube are securely attached to the insertion tube'"'"'s distal section and are axially movable to articulate the distal section. Control wheels are rotatably attached to the handle and positioned to be manipulated by the user during the endoscopic procedure. The articulation system is connected at one end to the control cables and at the other end to the control wheels. The articulation system transmits movement of the control wheels to the control cables. The articulation system is partially linearly movable between the control wheels and the control cables upon movement of at least one control wheel so as to provide a mechanical advantage in converting force from the control wheel to the control cable. The articulation system is configured with approximately a two-to-one mechanical advantage, such that a force exerted on the control wheel is approximately one-half of the force that is transmitted to the control cable to move the control cable axially, thereby articulating the insertion tube'"'"'s distal section.

Claims

1. An endoscope, comprising:

a handle;

an insertion tube having a proximal section attached to said handle and having a distal section opposite said proximal section, said distal section being articulatable relative to said proximal section;

a control cable attached to said distal section of said insertion tube, said control cable being axially movable relative to said insertion tube, said distal section of said insertion tube being articulated upon axial movement of said control cable;

a control member attached to said handle and positioned for movement by a user relative to said handle; and

a mechanical advantage coupler connected to said control member and to said control cable, said mechanical advantage coupler having a component that is substantially linearly movable relative to said control member, said mechanical advantage coupler providing a mechanical advantage between said movement of said control member and axial movement of said control cable, said mechanical advantage coupler includes a pulley assembly connected to said control cable and coupled to said control member, said pulley assembly including a pulley wheel and cable portion extending around said pulley wheel, said cable portion being attached to said control member and being movable over said pulley wheel upon movement of said control member.

2. The endoscope of claim 1 wherein said handle includes a housing that defines an interior chamber, and said movable pulley is positioned within said interior chamber between said control member and said control cable.

3. The endoscope of claim 1 wherein said mechanical advantage coupler includes a lever and a connecting member, said lever being pivotally mounted at a pivot point to said handle, said control cable being attached to a first portion of said lever at a first distance from said pivot point, said first portion of said lever being substantially linearly movable relative to said control member, said connecting member being connected to said control member and connected to a second portion of said lever a second distance from said pivot point, said second distance being different than said first distance.

4. The endoscope of claim 1 wherein said mechanical advantage coupler includes a lever and a connecting member, a first portion of said lever being connected to said handle and a second portion of said lever being connected to said control cable, said second portion of said lever being substantially linearly movable relative to said control member, and said connecting member having a first end connected to said lever and a second end connected to said control member.

5. The endoscope of claim 1 wherein said axial movement of said control cable articulates said distal section of said insertion tube in a first plane of movement, and further comprising:

a second control cable attached to said distal section of said insertion tube, said second control cable being axially movable relative to said insertion tube to cause said distal section of said insertion tube to articulate in a second plane of movement that is different than said first plane of movement;

a second control member attached to said handle and positioned for movement by a user relative to said handle; and

a second mechanical advantage coupler connected to said second control member and attached to said second control cable, said second mechanical advantage coupler having a component that is substantially linearly movable relative to said second control member, said second mechanical advantage coupler providing a mechanical advantage between movement of said second control member and movement of said second control cable.

6. The endoscope of claim 5 wherein said second mechanical advantage coupler includes a second pulley assembly connected to said second control cable and coupled to said control member, said second pulley assembly including a second pulley wheel and a second cable portion extending around said second pulley wheel, said second cable portion being attached to said second control member and being movable over said second pulley wheel upon movement of said control member.

7. The endoscope of claim 5 wherein said second mechanical advantage coupler includes a second lever and a second connecting member, said second lever having a third portion connected to said handle and having a fourth portion connected to said second control cable, said fourth portion of said second lever being substantially linearly movable relative to said second control member, and said second connecting member being connected to said second lever and to said second control member.

8. An endoscope, comprising:

a handle adapted to be held by a user during an endoscopic procedure;

an insertion tube having proximal and distal sections, said proximal section being attached to said handle and said distal section being opposite said proximal section and being articulatably movable relative to said proximal section;

a control cable attached to said distal section of said insertion tube and being axially movable relative to said insertion tube to cause said distal section of said insertion tube to articulate;

a control member attached to said handle and adapted to control articulation of said distal section, said control member being movable by a user relative to said handle during the endoscopic procedure; and

a transmitting means connected at a first portion to said control cable and connected at a second portion to said control member, said transmitting means being configured to transmit movement of said control member to said control cable to cause axial movement of said control cable to articulate said distal end of said insertion tube, said transmitting means being substantially linearly movable relative to said control member and relative to said control cable, said transmitting means providing a mechanical advantage in transmitting said movement of said control member to said control cable for articulation of said distal section, said transmitting means includes a movable pulley and a connecting cable extending around the movable pulley, said movable pulley being connected to said control cable and being movable over said connecting cable, said connecting cable being attached to said movable pulley and to said control member.

9. The endoscope of claim 8 wherein said handle includes a housing that defines an interior chamber, and said movable pulley is positioned within said interior chamber between said control member and said control cable.

10. The endoscope of claim 8 wherein said transmitting means includes a lever and a connecting member, said lever being pivotally mounted at a pivot point to said handle, said control cable being attached to a first portion of said lever at a first distance from said pivot point, said first portion of said lever being substantially linearly movable relative to said control member, said connecting member having first and second ends with said first end connected to a second portion of said lever a second distance from said pivot point, said second distance being different than said first distance, and said second end of said connecting member being connected to said control member.

11. The endoscope of claim 8 wherein said transmitting means includes a lever and a connecting member, a first portion of said lever being connected to said handle and a second portion of said lever being connected to said control cable, said second portion of said lever being substantially linearly movable relative to said control member and said connecting member having a first end connected to said lever and a second end connected to said control member.

12. The endoscope of claim 8 wherein said axial movement of said control cable articulates said distal section of said insertion tube in a first plane of movement and said control member has first and second portions, said first portion being connected to said first transmitting means, and said second portion beingmovable relative to said handle, and the endoscope further comprising:

a second control cable attached to said distal section of said insertion tube, said second control cable being axially movable relative to said insertion tube to cause said distal section of said insertion tube to articulate in a second plane of movement that is different than said first plane; and

a second transmitting means connected to said second control cable and connected to said second portion of said control member, said second transmitting means transmitting movement of said second portion of said control member to said second control cable to cause axial movement of said second control cable and articulation of said distal section, said second transmitting means having a component that is substantially linearly movable relative to said control member and relative to said second control cable, said second transmitting means providing mechanical advantage in transmitting said movement of said second portion of said control member to said second control cable for articulation of said distal section in said second plane of movement.

13. The endoscope of claim 12 wherein said second transmitting means includes a lever and a connecting member, said lever being pivotally mounted at a pivot point to said handle, said second control cable being attached to a first portion of said lever at a first distance from said pivot point, said first portion of said lever being substantially linearly movable relative to said control member, said connecting member being connected to said second portion of said control member and being connected to a second portion of said lever a second distance from said pivot point, said second distance being different than said first distance.

14. An endoscope assembly usable for an endoscopic procedure, comprising:

a handle having a housing defining an interior chamber with proximal and distal ends;

an insertion tube having proximal and distal sections, said proximal section attached to said housing at said distal end of said interior chamber and said distal section being opposite said proximal section and articulatable relative to said proximal section;

a control cable attached to said distal section of said insertion tube for articulating said distal section in a plane of movement, said control cable extending proximally from said distal section toward said housing and terminating at a proximal end within said interior chamber;

a control member rotatably attached to said handle housing, said control member including a control wheel connected to a shaft and a drum connected to the shaft, said drum positioned within said interior chamber and said control wheel being exterior of said interior chamber and positioned to be rotated by a user holding onto said handle during the endoscopic procedure and exerting a first force on said control wheel, such that rotation of said control wheel relative to said housing causes said drum to rotate; and

a connecting means securely connected to said proximal end of said control cable and to said drum, said connecting means being positioned within said interior chamber and having a component that is substantially linearly movable between said drum and said control cable, said connecting means transmitting movement of said control wheel and said drum to said control cable, and said connecting means converting said first force causing said rotational movement of said drum to a second force that causes axial movement of said control cable and articulating movement of said distal end and providing a mechanical advantage between first and second forces, said connecting means comprises a flexible cable connected to said drum and a pulley connected to said proximal end of said control cable, said flexible cable having first and second ends anchored to said housing and a middle portion therebetween that wraps partially around said drum and that wraps partially around said pulley, said pulley being substantially linearly movable relative to said drum upon rotation of said drum to cause said control cable to move axially.

15. The endoscopic assembly of claim 14 wherein said connecting means comprises a connecting cable connected to said drum and a lever pivotally mounted at a pivot point to said housing, said control cable being attached to a first portion of said lever at a first distance from said pivot point, said first portion of said lever being substantially linearly movable relative to said control member, said connecting cable having a first end connected to a second portion of said lever a second distance from said pivot point, said second distance being different than said first distance.

16. The endoscope assembly of claim 14 wherein said axial movement of said control cable articulates said distal section of said insertion tube in a first plane of movement, said control member including a second control wheel connected to a second shaft and a second drum connected to said second shaft, said second control wheel and said second drum being rotatable relative to said handle independent of said first control wheel and said first drum, said second control wheel being rotatable upon a third force being exerted thereon, and the endoscope assembly further comprising:

a second control cable attached to said distal section of said insertion tube for articulating said distal section in a second plane of movement that is different than said first plane, said second control cable extending proximally from said distal end toward said housing and terminating at a proximal end within said interior chamber; and

a second connecting means securely connected to said proximal end of said second control cable and to said second drum, said second connecting means being positioned within said interior chamber and having a component that is substantially linearly movable between said second drum and said second control cable, said second connecting means transmitting movement of said second control wheel and said second drum to said second control cable, and said second connecting means converting said third force causing said rotational movement of said second drum to a fourth force that causes axial movement of said second control cable and articulating movement of said distal section in said second plane of movement and providing mechanical advantage between said third and fourth forces.

17. The endoscopic assembly of claim 16 wherein said second connecting means comprises said second flexible cable connected to said second drum and a lever pivotally mounted at a pivot point to said housing, said second control cable being attached to a first portion of said lever at a first distance from said pivot point, said first portion of said lever being substantially linearly movable relative to said control member, said second flexible cable being connected to a second portion of said lever a second distance from said pivot point, said second distance being different than said first distance.

18. An endoscope usable for an endoscopic procedure, comprising:

a handle for holding during the endoscopic procedure, said handle having a housing defining an interior chamber;

an insertion tube having a proximal end attached to said handle and a distal end opposite said proximal end, said insertion tube having an articulating section adjacent to said distal end that is articulatably movable in two planes, a plurality of interior control channels extending between the proximal and distal ends, said proximal end of said interior control channels coupled to said interior chamber;

a plurality of control cables positioned within said plurality of interior control channels, said control cables having a proximal end and a distal end, said distal end being rigidly attached to said articulating section, each of said control cables being axially movable within a respective one of said interior control channels to cause said articulating section to articulate in at least one of the two planes;

a control wheel assembly rotatably mounted to said handle, said control wheel having a shaft rotatably extending through a portion of said housing, said shaft having an interior end within said interior chamber and an exterior end exterior of said interior chamber, said control wheel further having an exterior control member and an interior control drum, said exterior control member being rigidly attached to said exterior end of said shaft and being adapted to be engaged by a user and rotated relative to said housing, and said interior control drum being rigidly attached to said interior end of said shaft and being rotatable relative to said housing upon rotation of said exterior control member; and

a movable pulley system connected to said interior control drum and to said control cables, said movable pulley system including;

a control wire having first and second ends and a first middle portion extending therebetween, said first middle portion being movably wrapped around said interior control drum for axial movement upon rotation of said exterior control member;

a first flexible cable having a first anchored end rigidly anchored to said housing between said control wheel assembly and said proximal ends of said control cables, a first movable end rigidly connected to said first end of said control wire, and a second middle portion extending between said first anchored and movable ends;

a second flexible cable having a second anchored end rigidly anchored to said housing between said control wheel assembly and said proximal ends of said control cables, a second movable end rigidly connected to said second end of said control wire, and a third middle portion extending between said second anchored and movable ends;

a first movable pulley slidably attached to said proximal end of one of said control cables and movably attached to said second middle portion of said first flexible cable, such that said rotation of said exterior control wheel in a first direction rotates said interior control drum, thereby axially moving said first movable end and said second middle portion of said first flexible cable to cause said first movable pulley to move within said interior chamber thereby axially moving said one of said control cables and causing said distal end of said one of said control cables to pull on said articulating section of said insertion tube to articulate said articulating section in one of said two planes, said first movable pulley including an outer housing having a shaft extending therethrough and a first pulley wheel rotatably mounted on said shaft within said outer housing, said first pulley wheel engaging said second middle portion of said first flexible cable with the second middle portion extending around said first pulley wheel, and a retaining pin rigidly attached to said outer housing and slidably retaining said proximal end of said one of said control cables thereon, thereby providing a mechanical advantage within said interior chamber to articulate said articulating section; and

a second movable pulley slidably attached to said proximal end of a second of said control cables and movably attached to said third middle portion of said second flexible cable, such that said rotation of said exterior control wheel in a second direction rotates said interior control drum, thereby axially moving said second movable end and said third middle portion of said second flexible cable to cause said second movable pulley to move within said interior chamber thereby axially moving said second of said control cables and causing said distal end of said control cable to articulate said articulating end of said insertion tube in one of said two planes, said second movable pulley including an outer housing having a shaft extending therethrough and a second pulley wheel rotatably mounted on said shaft within said outer housing, said second pulley wheel engaging said third middle portion of said second flexible cable with the third middle portion extending around the second pulley wheel, and a retaining pin rigidly attached to said outer housing and slidably retaining said proximal end of said second one of said control cables thereon, thereby providing a mechanical advantage within said interior chamber to articulate said articulating section.